dead reckon proposal

Information about dead reckon proposal

Published on January 7, 2008

Author: Jeremiah

Source: authorstream.com

Content

Dead Reckoning System for Mobile Robots:  Dead Reckoning System for Mobile Robots Lee Fithian Steven Parkinson Ajay Joseph Saba Rizvi Dead Reckoning:  Dead Reckoning Navigation Method used for Centuries Based on Measurements of Distance Traveled from a Known Point Used by Columbus to Discover the New World Robots used Dead Reckoning Based on Odometers, Accelerometers Problem Statement:  Problem Statement Use a mobile robot to compare accuracy of dead reckoning using odometers and accelerometers The goal is not for us to build a robot The robot is the means by which we will reach our goal. Objective 1: Construct:  Objective 1: Construct Assemble a robot capable of Following a specified path using odometers Odometers based on a shaft encoder and a microcontroller Following a specified path using accelerometers and microcontroller Interfacing with a PC for programming and path data entry Objective 2: Experiment:  Objective 2: Experiment Specify a path for the robot to follow Record the path the robot actually follows Path specified will be drawn on butcher paper Robot will drag a marker indicating its actual path Objective 3: Analyze:  Objective 3: Analyze A grid will be drawn on the butcher paper used for trials Create a numerical comparison of accuracy between two navigation methods Area between actual path and specified path can be calculated Method of Solution:  Method of Solution Based on a Mark III Kit robot (pictured) Modifications: Shaft Encoders on each axle Accelerometers added Scoop removed Marker mount added Method of Solution:  Method of Solution OOPic Microcontroller Programmed using Java, C or VB Serial Interface EEPROM Onboard Well Defined Programming Interface Method of Solution:  Method of Solution 600CS-ND Incremental Shaft Encoders Clarostat Manufacturing Co. Digital Output 128 Pulses Per Revolution ADXL202E Accelerometer From Analog Devices Digital Output ± 2g Range, 200 mg accuracy Validation:  Validation Need to ensure the navigation systems work at some minimum level before testing. Robot will be required to follow a simple path with a right and left turn and three runs. Cost Analysis:  Cost Analysis Shaft Encoders: 2 @ $46.14 Mark III Complete Kit $98.00 Includes OOPic Accelerometer Kit $23.00 Total Cost: $360.06 PERT Diagram:  PERT Diagram Conclusion:  Conclusion Construction Mark III based robot with shaft encoders and accelerometers Validation to ensure systems work at a basic level Experimentation Use dead reckoning navigation in trials. Record trials on butcher paper Analysis Numerical analysis of which navigation method performs better.

Related presentations


Other presentations created by Jeremiah

NAR 2006 08
09. 04. 2008
0 views

NAR 2006 08

Top Thrill Dragster
03. 10. 2007
0 views

Top Thrill Dragster

Chinese Proverb
04. 10. 2007
0 views

Chinese Proverb

harvey ppt
05. 10. 2007
0 views

harvey ppt

Barish Industry 06 05
09. 10. 2007
0 views

Barish Industry 06 05

springbreak3
10. 10. 2007
0 views

springbreak3

Makarsankrant
10. 10. 2007
0 views

Makarsankrant

MIR
12. 10. 2007
0 views

MIR

SSI Presentation
17. 10. 2007
0 views

SSI Presentation

Chapter4anthrax
21. 10. 2007
0 views

Chapter4anthrax

Nicaragua Santiago20050930
22. 10. 2007
0 views

Nicaragua Santiago20050930

NYTd Strategy Content Summit
27. 09. 2007
0 views

NYTd Strategy Content Summit

Bell UML in an hour
23. 10. 2007
0 views

Bell UML in an hour

Western Illinois University
02. 11. 2007
0 views

Western Illinois University

Jain History Power Point
10. 12. 2007
0 views

Jain History Power Point

Presentation e mtiaz1
23. 10. 2007
0 views

Presentation e mtiaz1

Robert Sappio FTDC 5 08 06
25. 10. 2007
0 views

Robert Sappio FTDC 5 08 06

making classroom inclusive
30. 10. 2007
0 views

making classroom inclusive

my friend Beth
02. 11. 2007
0 views

my friend Beth

MLA Citation Enhanced
28. 09. 2007
0 views

MLA Citation Enhanced

11HPC Eckrich
05. 10. 2007
0 views

11HPC Eckrich

Howard NASA Programs
15. 10. 2007
0 views

Howard NASA Programs

student chap8
04. 01. 2008
0 views

student chap8

nov200 6 molfetas
07. 01. 2008
0 views

nov200 6 molfetas

PF timing
15. 10. 2007
0 views

PF timing

engageLMS
01. 10. 2007
0 views

engageLMS

ibmglobal
22. 11. 2007
0 views

ibmglobal

HIPAA TRAINING HCD
23. 10. 2007
0 views

HIPAA TRAINING HCD

Normand207
31. 12. 2007
0 views

Normand207

md cdf flier 2007 revised
23. 11. 2007
0 views

md cdf flier 2007 revised

powerpoint colorado
30. 10. 2007
0 views

powerpoint colorado

GBEP VICENZA
23. 11. 2007
0 views

GBEP VICENZA

cancer aging
16. 02. 2008
0 views

cancer aging

zhongpresentation
11. 10. 2007
0 views

zhongpresentation

Stakeholder Mtg8 May12 03
14. 02. 2008
0 views

Stakeholder Mtg8 May12 03

Olivier
13. 03. 2008
0 views

Olivier

InternationalHealthL ecture
16. 03. 2008
0 views

InternationalHealthL ecture

Athens Glocalization Paradox
20. 03. 2008
0 views

Athens Glocalization Paradox

pp3
27. 02. 2008
0 views

pp3

2101 Iliad and Odyssey
03. 04. 2008
0 views

2101 Iliad and Odyssey

BSM Tools Repository aug05
05. 10. 2007
0 views

BSM Tools Repository aug05

BEChapter 8
13. 04. 2008
0 views

BEChapter 8

Hilltop Terry
19. 10. 2007
0 views

Hilltop Terry

arena c
20. 02. 2008
0 views

arena c

Dversify
14. 04. 2008
0 views

Dversify

trade
16. 04. 2008
0 views

trade

07 09 it planning briefing
17. 04. 2008
0 views

07 09 it planning briefing

NextStep11Mar02
18. 04. 2008
0 views

NextStep11Mar02

PowerPoint 02 22 08
22. 04. 2008
0 views

PowerPoint 02 22 08

apresentacao
16. 10. 2007
0 views

apresentacao

acma brendan vernon
28. 04. 2008
0 views

acma brendan vernon

Comdex2002
07. 05. 2008
0 views

Comdex2002

bis update
30. 04. 2008
0 views

bis update

Chapter 9
02. 05. 2008
0 views

Chapter 9

PCM2004
09. 10. 2007
0 views

PCM2004

50
03. 10. 2007
0 views

50

blum
17. 10. 2007
0 views

blum

mcKee
15. 10. 2007
0 views

mcKee

peter jong
27. 03. 2008
0 views

peter jong

usjapan
10. 04. 2008
0 views

usjapan

PresidentReport Gupta October05
16. 10. 2007
0 views

PresidentReport Gupta October05

paper02
29. 09. 2007
0 views

paper02

CP12299E
22. 10. 2007
0 views

CP12299E

2005 WACD ANNUAL REPORT
15. 11. 2007
0 views

2005 WACD ANNUAL REPORT

201 Family
19. 02. 2008
0 views

201 Family

AREA II Maps Jul06
24. 10. 2007
0 views

AREA II Maps Jul06

Tangermann
17. 10. 2007
0 views

Tangermann

3B1HugoGraeme3B11July
26. 03. 2008
0 views

3B1HugoGraeme3B11July

SLA China 04
24. 03. 2008
0 views

SLA China 04

drm
21. 10. 2007
0 views

drm

041014 OPERA
19. 10. 2007
0 views

041014 OPERA

Berkutova
02. 11. 2007
0 views

Berkutova

WomenetWork 0
15. 10. 2007
0 views

WomenetWork 0